EP1898289A3 - Baukasten zum Aufbau einer Infrastruktur für eine Steuerung eines Flächenbearbeitungsgeräts - Google Patents

Baukasten zum Aufbau einer Infrastruktur für eine Steuerung eines Flächenbearbeitungsgeräts Download PDF

Info

Publication number
EP1898289A3
EP1898289A3 EP07016713A EP07016713A EP1898289A3 EP 1898289 A3 EP1898289 A3 EP 1898289A3 EP 07016713 A EP07016713 A EP 07016713A EP 07016713 A EP07016713 A EP 07016713A EP 1898289 A3 EP1898289 A3 EP 1898289A3
Authority
EP
European Patent Office
Prior art keywords
infrastructure
modular system
mei
providing
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07016713A
Other languages
English (en)
French (fr)
Other versions
EP1898289A2 (de
EP1898289B1 (de
Inventor
Thomas Kämpke
Boris Kluge
Matthias Strobel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
INMACH INTELLIGENTE MASCHINEN
InMach Intelligente Maschinen GmbH
Original Assignee
INMACH INTELLIGENTE MASCHINEN
InMach Intelligente Maschinen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by INMACH INTELLIGENTE MASCHINEN, InMach Intelligente Maschinen GmbH filed Critical INMACH INTELLIGENTE MASCHINEN
Publication of EP1898289A2 publication Critical patent/EP1898289A2/de
Publication of EP1898289A3 publication Critical patent/EP1898289A3/de
Application granted granted Critical
Publication of EP1898289B1 publication Critical patent/EP1898289B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Numerical Control (AREA)

Abstract

Die Erfindung betrifft ein modulares System zum Aufbau einer Infrastruktur zur Steuerung eines in einer Umgebung mit wenigstens einer Arbeitsfläche selbstfahrenden Flächenbearbeitungsgeräts (FA) mit einem Befehlssatz (BS), wenigstens einem Markierungselement (Mi, MEi) sowie einer Steuerungseinrichtung (SE), wobei die Befehle (Oi) des Befehlssatzes (BS) wenigstens teilweise parametrisierbar sind und insbesondere in ihrer Ausgestaltung generisch sind, wobei die Markierungselemente (Mi) typisiert sind, wobei jeder Typ dadurch festgelegt ist, dass er einen oder mehrere Befehle des Befehlssatzes (DS) enthält, wobei der Steuerungseinrichtung (SE) wenigstens eine Vorrichtung zur Erfassung (VE) der Markierungselemente (Mi, MEi) und deren Typ zur Befehlserkennung zugeordnet ist, wobei die Steuerungseinrichtung (SE) einen Prozessor zur kontextabhängigen Abarbeitung des oder der Befehle aus den Markierungselementen (Mi, MEi) aufweist.
EP07016713A 2006-09-02 2007-08-27 Modulares System zur Steuerung eines Flächenbearbeitungsgeräts Not-in-force EP1898289B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006041485A DE102006041485A1 (de) 2006-09-02 2006-09-02 Baukasten zum Aufbau einer Infrastruktur für eine Steuerung eines Flächenbearbeitungsgeräts

Publications (3)

Publication Number Publication Date
EP1898289A2 EP1898289A2 (de) 2008-03-12
EP1898289A3 true EP1898289A3 (de) 2008-08-13
EP1898289B1 EP1898289B1 (de) 2012-08-15

Family

ID=38819644

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07016713A Not-in-force EP1898289B1 (de) 2006-09-02 2007-08-27 Modulares System zur Steuerung eines Flächenbearbeitungsgeräts

Country Status (2)

Country Link
EP (1) EP1898289B1 (de)
DE (1) DE102006041485A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009001900A1 (de) 2008-10-20 2010-04-22 Robert Bosch Gmbh Verfahren und System zur Arbeitsbereichserkennung eines mobilen Arbeitsgerätes
DE102009021574A1 (de) 2009-05-16 2010-11-18 Inmach Intelligente Maschinen Gmbh Verfahren zur automatischen Befahrung einer Einsatzumgebung
DE102010020537A1 (de) 2010-05-14 2011-11-17 H&S Robotic Solutions GbR (vertretungsberechtigter Gesellschafter: Bernd-Helge Schäfer, 67661 Kaiserslautern) Wasserdetektor
US20110295423A1 (en) * 2010-05-27 2011-12-01 Noel Wayne Anderson Condition based keep-out for machines
DE102011003064A1 (de) * 2010-12-29 2012-07-05 Robert Bosch Gmbh Verfahren zur Bearbeitung einer Fläche mittels eines Roboter-Fahrzeugs
EP3413157B1 (de) 2017-06-09 2020-08-05 Andreas Stihl AG & Co. KG Verfahren zum bestimmen eines spezifischen steuerparameterbereichs eines autonomen mobilen grünflächenbearbeitungsroboters, verfahren zum betreiben eines autonomen mobilen grünflächenbearbeitungsroboters, system und autonomer mobiler grünflächenbearbeitungsroboter
US11256259B2 (en) * 2018-09-19 2022-02-22 Locus Robotics Corp. Zone engine for providing context-augmented map layer
CN112147992A (zh) * 2019-06-10 2020-12-29 苏州宝时得电动工具有限公司 自动工作***和自动工作***的控制方法
CN113060065A (zh) * 2021-03-23 2021-07-02 重庆科创职业学院 一种集多种识别功能的物料转运机器人
AU2023200381A1 (en) * 2022-01-31 2023-08-17 Techtronic Cordless Gp Robotic garden tool

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4919224A (en) * 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
US6615108B1 (en) * 1998-05-11 2003-09-02 F. Robotics Acquisitions Ltd. Area coverage with an autonomous robot
DE10346216B3 (de) * 2003-09-24 2004-09-09 Alfred Kärcher Gmbh & Co. Kg Verfahren zur Reinigung einer Bodenfläche mittels eines Bodenreinigungssystems und Bodenreinigungssystem zur Durchführung des Verfahrens
EP1639934A2 (de) * 2004-09-08 2006-03-29 Samsung Electronics Co., Ltd. Staubsauger
DE102004053183A1 (de) * 2004-11-04 2006-05-24 Inmach Intelligente Maschinen Gmbh System mit Landmarken und mit einem selbstfahrenden Gerät

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4919224A (en) * 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
US6615108B1 (en) * 1998-05-11 2003-09-02 F. Robotics Acquisitions Ltd. Area coverage with an autonomous robot
DE10346216B3 (de) * 2003-09-24 2004-09-09 Alfred Kärcher Gmbh & Co. Kg Verfahren zur Reinigung einer Bodenfläche mittels eines Bodenreinigungssystems und Bodenreinigungssystem zur Durchführung des Verfahrens
EP1639934A2 (de) * 2004-09-08 2006-03-29 Samsung Electronics Co., Ltd. Staubsauger
DE102004053183A1 (de) * 2004-11-04 2006-05-24 Inmach Intelligente Maschinen Gmbh System mit Landmarken und mit einem selbstfahrenden Gerät

Also Published As

Publication number Publication date
EP1898289A2 (de) 2008-03-12
EP1898289B1 (de) 2012-08-15
DE102006041485A1 (de) 2008-03-13

Similar Documents

Publication Publication Date Title
EP1898289A3 (de) Baukasten zum Aufbau einer Infrastruktur für eine Steuerung eines Flächenbearbeitungsgeräts
EP2392435A3 (de) Werkzeug-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren
DE69508297T2 (de) Methode und Vorrichtung zur Feinbearbeitung von Werkstücken mit Hilfe numerischer Steuerung und computerunterstützter Simulationsfunktion
EP2136273A3 (de) Verfahren zur Steuerung einer Windenergieanlage
EP1961618A3 (de) Verfahren für die Zuweisung der Bedienung von Ausrüstung zu einem spezifischen Bediener
DE102014012868B4 (de) Datenerlangungsvorrichtung zur Erlangung der Ursache des Anhaltens einer Antriebsachse und von darauf bezogenen Informationen
EP1521211A3 (de) Verfahren und Vorrichtung zum Bestimmen von Position und Orientierung einer Bildempfangseinrichtung
EP2096511A3 (de) Gerätebeschreibungsdatei, System und Verfahren zum Einrichten von Steuer- und/oder Regeleinrichtungen
EP2685333A3 (de) Verfahren zur Steuerung eines Werkzeuges
EP2522443A3 (de) Bearbeitungsprogramm zum Betreiben einer Stanzmaschine zum stanzenden Bearbeiten von Werkstücken, insbesondere von Blechen
EP2371748A3 (de) Verfahren zur Bestimmung wenigstens eines Reglerparameters eines Tänzerlage-Regelglieds
DE102016000754A1 (de) Verfahren und System zur Bahnplanung eines redundanten Roboters
EP4072807B1 (de) Computergestütztes verfahren und steuereinrichtung zur bestimmung einer sichtbetonqualität
EP2009358A3 (de) Gebäudemodellbasiertes prädiktives Regelverfahren zum Heizen eines begrenzten Systems
EP1808275A3 (de) Werkzeugbereitstellungsvorrichtung
EP2063023A3 (de) Vorrichtung und Verfahren zum Wechseln einer Bespannung einer Papiermaschine
EP2345511A3 (de) Steuerung für einen Manipulator
DE102016102235A1 (de) Werkzeugmaschine mit einer sichtfenstersteuereinheit
EP2002980A3 (de) Verfahren zum Betreiben einer Druckmaschine
EP2191970A3 (de) Verfahren und Vorrichtung zur Regelung des Registers in einer Druckmaschine
DE102016004185B4 (de) Numerische Steuerung mit Kontrolle eines Eingriffs zwischen Werkzeug und Werkstück
EP3293589A3 (de) Steuereinrichtung für eine maschine
EP1970198A3 (de) Leitstand einer Druckmaschine
EP1892596A3 (de) System sowie Verfahren zur Organisation von zu bearbeitenden Werkstücken
DE102017010577B4 (de) Numerische Steuervorrichtung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK RS

17P Request for examination filed

Effective date: 20090213

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

17Q First examination report despatched

Effective date: 20090325

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 571138

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120815

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502007010370

Country of ref document: DE

Effective date: 20121011

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20120815

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121215

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

BERE Be: lapsed

Owner name: INMACH INTELLIGENTE MASCHINEN G.M.B.H.

Effective date: 20120831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121116

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121217

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121126

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20130516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121115

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120827

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502007010370

Country of ref document: DE

Effective date: 20130516

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 571138

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120815

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120827

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070827

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20200827

Year of fee payment: 14

Ref country code: GB

Payment date: 20200828

Year of fee payment: 14

Ref country code: DE

Payment date: 20200825

Year of fee payment: 14

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502007010370

Country of ref document: DE

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20210827

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210827

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210831

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220301

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20231001